[SPARK-8781] Fix variables in published pom.xml are not resolved

The issue is summarized in the JIRA and is caused by this commit: 984ad601.

This patch reverts that commit and fixes the maven build in a different way. We limit the dependencies of `KinesisReceiverSuite` to avoid having to deal with the complexities in how maven deals with transitive test dependencies.

Author: Andrew Or <andrew@databricks.com>

Closes #7193 from andrewor14/fix-kinesis-pom and squashes the following commits:

ca3d5d4 [Andrew Or] Limit kinesis test dependencies
f24e09c [Andrew Or] Revert "[BUILD] Fix Maven build for Kinesis"